Method, system and apparatus for implementing omnidirectional vision obstacle avoidance and storage medium

Abstract

The embodiments are a method, a system and an apparatus for implementing an omnidirectional vision obstacle avoidance, and a storage medium. The method for implementing an omnidirectional vision obstacle avoidance includes: transmitting a trigger signal to an image capture device, to trigger the image capture device to capture image signals; combining the image signals to obtain combined image data; disassembling the combined image data to obtain disassembled image data; and visually processing the disassembled image data to acquire a visual image. Based on the technical solutions in the present invention, a multi-lens access problem of existing aircrafts during omnidirectional vision obstacle avoidance is resolved and image processing efficiency and performance are improved.

What is claimed is: 
     
         1 . A method for implementing an omnidirectional vision obstacle avoidance, comprising:
 transmitting a trigger signal to an image capture device, to trigger the image capture device to capture image signals;   combining the image signals to obtain combined image data;   disassembling the combined image data to obtain disassembled image data; and   visually processing the disassembled image data to acquire a visual image.   
     
     
         2 . The method according to  claim 1 , wherein the trigger signal is transmitted to the image capture device by using a synchronization trigger clock. 
     
     
         3 . The method according to  claim 2 , wherein the trigger signal is a pulse signal. 
     
     
         4 . The method according to  claim 1 , wherein the combining the image signals to obtain combined image data comprises:
 combining the image signals by using an image signal processor (ISP), to obtain the combined image data.   
     
     
         5 . The method according to  claim 4 , wherein capturing the image signals comprises: capturing the image signals line by line, and immediately transmitting the captured image lines to the ISP. 
     
     
         6 . The method according to  claim 5 , wherein combining the image signals to obtain combined image data comprises: cross-combining the image signals by the ISP to obtain combined image data and transmitting the combined image data to a main chip. 
     
     
         7 . The method according to  claim 1 , wherein the disassembling the combined image data comprises:
 sequentially copying the combined image data according to an image line number, to obtain the disassembled image data.   
     
     
         8 . The method according to  claim 1 , wherein the disassembling the combined image data comprises:
 disassembling the combined image data according to a start address offset, a width and a stride of a combined image, to obtain the disassembled image data.   
     
     
         9 . A system for implementing an omnidirectional vision obstacle avoidance, comprising:
 a synchronization trigger clock, configured to transmit a trigger signal to an image capture device, to trigger the image capture device to capture image signals;   a plurality of ISPs and a main chip, configured to combine the image signals to obtain combined image data; and   a main chip, configured to disassemble the combined image data and visually process the disassembled image data, to acquire a visual image.   
     
     
         10 . The system according to  claim 9 , wherein the trigger signal is a pulse signal. 
     
     
         11 . The system according to  claim 9 , wherein the image capture device is further configured: capture the image signals line by line, and immediately transmitting the captured image lines to the ISP. 
     
     
         12 . The system according to  claim 9 , wherein the ISP is further configured: cross-combine the image signals by the ISP to obtain combined image data and transmit the combined image data to a main chip. 
     
     
         13 . The system according to  claim 9 , wherein the main chip is further configured to:
 sequentially copy the combined image data according to an image line number, to obtain the disassembled image data.   
     
     
         14 . The system according to  claim 9 , wherein the main chip is further configured to:
 disassemble the combined image data according to a start address offset, a width and a stride of a combined image, to obtain the disassembled image data.   
     
     
         15 . An apparatus for implementing an omnidirectional vision obstacle avoidance, comprising: a memory and a processor, the memory storing a program for an omnidirectional vision obstacle avoidance executable on the processor, the program for the omnidirectional vision obstacle avoidance, when executed by the processor, causing the processor to:
 transmit a trigger signal to an image capture device, to trigger the image capture device to capture image signals;   combine the image signals to obtain combined image data;   disassemble the combined image data to obtain disassembled image data; and   visually process the disassembled image data to acquire a visual image.   
     
     
         16 . The apparatus according to  claim 15 , wherein the processor is further configured to combine the image signals by using an image signal processor (ISP), to obtain the combined image data. 
     
     
         17 . The apparatus according to  claim 16 , wherein capturing the image signals comprises: capturing the image signals line by line, and immediately transmitting the captured image lines to the ISP. 
     
     
         18 . The apparatus according to  claim 17 , wherein combining the image signals to obtain combined image data comprises: cross-combining the image signals by the ISP to obtain combined image data and transmitting the combined image data to a main chip. 
     
     
         19 . The apparatus according to  claim 15 , wherein the processor is further configured to:
 sequentially copy the combined image data according to an image line number, to obtain the disassembled image data.   
     
     
         20 . The apparatus according to  claim 15 , wherein the processor is further configured to: disassemble the combined image data according to a start address offset, a width and a stride of a combined image, to obtain the disassembled image data.